Delta RMC101 User Manual
Page 540
RMC100 and RMCWin User Manual
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0
14338
Point Table –
1
P1
14339
Point Table –
2
P2
14340
Point Table –
3
P3
14341
Point Table –
4
P4
Spline Download Procedure
1. Write to the Interval Table Format register to indicate the format of the Interval Table.
2. Write to the Interval Table. If the Interval Table Format register is zero (0), you will only need to
write to the first register in the table. If the Interval Table Format is one (1), you will need to write
to as many registers are there are points minus one (that is, for n points, there are n-1 intervals
between them).
3. Write to the Point Count register. This will be the count of the points to be downloaded in the
spline segment.
4. Write to the Point Table. When the last point in the spline (determined by the value of the Point
Count register) is written, the spline segment will become part of the axis’s spline table. When this
operation is complete, the Acknowledge bit in the Status word for that axis will toggle.
5. If you wish to download another spline segment, only step 4 needs to be repeated. Any of steps
1, 2, and 3 can be repeated, but only need to be if their values are going to change. For example,
you wish to change the number of points in the next segment, or you wish to change the intervals
between points.
When writing the above registers, neither timing nor number of writes used are critical. For
example, step 1 can precede step 2 by a few milliseconds or a few minutes. Or, every register
can be written separately, or more commonly, steps 1 and 2 will be accomplished in a single
write, and steps 3 and 4 will be accomplished in a second write. Of course, there may be cases
where you are downloading more points than your PLC allows registers to be written at once. In
these cases, it is perfectly acceptable to use multiple writes.
Important Notes
• The spline is actually added to the RMC axis’s spline table when the last spline point has been
downloaded.
• If there is an error while downloading the spline, a parameter error will be triggered. This means
that the parameter error bit will be set in the Status word for the axis, and the Parameter Error
value will be stored for retrieval by RMCWin or by reading the ”r;Last Parameter Error” registers.
See the RMC Register Map and Parameter Error Values topics for details on these registers.
• When the spline has been added to the RMC axis’s spline table successfully, the Acknowledge
bit in the Status word will be toggled.
• If there is already a spline segment in the axis’s spline table, then the following rules will apply
(these are the same rules that apply when downloading using X and T commands). If there is
more than one spline segment in the spline table, the new spline segment will be added to the
end. If there are no spline segments in the spline table, the new spline segment will be added and
made the next spline. If there is exactly one spline segment already in the spline table, then the
new spline will be added after the existing spline segment if the existing spline segment is being
currently followed or never has been followed; otherwise, the old spline segment will be deleted
and the new spline segment will be added and made the next spline.